CN110185887A - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
- Publication number
- CN110185887A CN110185887A CN201910434494.7A CN201910434494A CN110185887A CN 110185887 A CN110185887 A CN 110185887A CN 201910434494 A CN201910434494 A CN 201910434494A CN 110185887 A CN110185887 A CN 110185887A
- Authority
- CN
- China
- Prior art keywords
- propeller
- robot
- piggyback pod
- sealed compartment
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of detecting robot of pipe, belong to pipe robot field, the detecting robot of pipe includes: camera shooting cabin, sealed compartment, piggyback pod, powerhouse dome and propeller-parachuting, the camera shooting cabin is connected with the sealed compartment, the propeller-parachuting is fixed on the side of the sealed compartment, the bottom of the sealed compartment connects the piggyback pod, and the powerhouse dome is arranged in the piggyback pod bottom；The piggyback pod changes the direction of advance of robot using fluid as robot onward impulse, and ground installation is using the optical cable release being connected in robot and withdraws robot.The present invention changes robot direction of advance using propeller, and ground installation is using the optical cable release being connected in robot and withdraws robot.Present invention reduces the complexities of robot, improve the detecting distance and duration performance of robot, realize the timely processing to complex situations.
Description
Technical field
The invention belongs to robot fields, are related to a kind of detecting robot of pipe.
Background technique
Since Long-distance Pipeline for Water Conveyance working environment is severe, be easy to happen after long-time service corrosive pipeline, it is damaged the problems such as,
Cause water resource in pipeline to leak, increase water supply consumption, reduces economic benefit, and some leak sources are often the omen of booster,
The safe operation of direct relation underground pipe network, and then influence social production and life stabilization.Based on the problem, there is pipe machine
Device people.
But traditional pipe robot uses built-in power device, and tractive force is small, and detecting distance is close, can not obtain pipe in real time
Information in road cannot handle it in time to the various complex environments in pipeline, it is therefore necessary to develop a kind of pipeline machine
People solves the above problems.
Summary of the invention
The present invention provides a kind of detecting robot of pipe to utilize propeller using fluid as robot onward impulse
Change robot direction of advance, ground installation is using the optical cable release being connected in robot and withdraws robot.Present invention drop
The complexity of Di Liao robot improves the detecting distance and duration performance of robot, realizes the timely processing to complex situations,
It is described below:
A kind of detecting robot of pipe, comprising: camera shooting cabin, sealed compartment, piggyback pod, powerhouse dome and propeller-parachuting, the camera shooting
Cabin is connected with the sealed compartment, and the propeller-parachuting is fixed on the side of the sealed compartment, described in the bottom connection of the sealed compartment
The powerhouse dome is arranged in piggyback pod, the piggyback pod bottom；
The piggyback pod changes the direction of advance of robot using fluid as robot onward impulse, and ground installation utilizes
The optical cable release being connected in robot and withdrawal robot.
Wherein, the piggyback pod includes:
It is fixed between No.1 propeller limited block and No. two propeller limited blocks by cylindrical columns；
Propeller fixed block by upper and lower two steering engines respectively with No.1 propeller limited block and No. two propeller limited blocks
It is connected, propeller fixed block is rotated around central axis 180 degree；
Propeller is fixed on propeller fixed block, is connected with steering engine on propeller fixed block, steering engine rotational plane with push away
Into the central axis of device；Helical blade is provided in propeller, Robot propeller center when helical blade rotates forward
Axis positive direction is mobile, and Robot propeller central axis negative direction is mobile when helical blade rotates backward；
Helical blade by changing steering engine rotational angle and propeller, which turns to, realizes robot in two freedom degree directions
Movement.
Further, the camera shooting cabin includes: the translucent cover being fixed on front cover, is also set inside hemispheric translucent cover
It is equipped with camera module, video letter of the holder in the camera module in two freedom degree direction rotation shooting pipelines
Breath.
Wherein, the sealed compartment includes:
Data exchange module is fixed on the left of supporting plate, and power supply circuit board and photoelectric conversion module are fixed on the right side of partition, electricity
Source circuit plate is respectively that camera module, data exchange module, photoelectric conversion module and piggyback pod provide voltage；
The data that data exchange module will acquire are transferred to photoelectric conversion module, and photoelectric conversion module is carried out using optical fiber
Data are transmitted and are sent in host computer.
When specific implementation, change forward speed by changing propeller-parachuting forced area.
It further, include battery protecting plate and lithium battery inside the powerhouse dome.
The beneficial effect of the technical scheme provided by the present invention is that:
1, it in the present invention, pushes robot to advance using fluid dynamic, a propeller is used to fill as the power of deflecting
It sets.There is helical blade in propeller, Robot propeller central axis positive direction is mobile when helical blade rotates forward, helical-blade
Robot propeller central axis negative direction is mobile when piece rotates backward.Propeller is fixed on propeller fixed block, propeller
Steering engine, steering engine rotational plane and propeller central axis are connected on fixed block.Steering engine can drive propeller central axis when rotating
It rotates together.Slewing area is 0~180 degree.It is possible thereby to by changing steering engine rotational angle and propeller screw blade steering
Realize robot in the movement of two freedom degree directions.
Due to only one power device, reduce the complexity of robot, improves detecting distance and the continuation of the journey of robot
Performance improves the reliability of device.
2, in the present invention, video information is transmitted to data exchange module, data exchange module by cable by camera module
By the data summarization of each sensor and it is sent to photoelectric conversion module, photoelectric conversion module converts electrical signals to optical signal,
And host computer is sent to by optical cable.Carried out data transmission using optical cable, greatly reduce installation cost, increases the transmission of signal
Distance and anti-interference ability.Used optical cable is speciality optical cable simultaneously, it is characterized in that density is identical as the density of fluids within pipes.
Optical cable can be suspended in fluids within pipes, will not be generated obstruction to the advance of robot, be thereby reduced optical cable to robot
The interference of movement increases the flexibility of device.
3, in the present invention, device and host computer real time communication, camera send video information in pipeline in real time in pipeline
Into host computer.When robot anterior approach encounter barrier on the way or pipe diameter become smaller region when, host computer is to bottom
The video information that machine is sent carries out image procossing, identifies duct size and shape, situation in pipeline is judged, from trend propeller rudder
Machine and push away machine issue effective instruction, using propeller control robot in pipeline transverse shifting, circumvent barrier, sail out of danger
Danger zone domain.
Using real-time video information transmission and PC control, situation complicated in pipeline can be made and rationally answer
It is right, improve the flexibility and safety of device.
4, in the present invention, the density of the present apparatus and the density of fluids within pipes are identical, can suspend in the duct.The present invention
Power is provided using fluids within pipes for the present apparatus.When fluids within pipes are short of power, the open area for increasing propeller-parachuting increases
Big power, when fluids within pipes power is excessive, the open area for reducing propeller-parachuting reduces power.By for changing propeller-parachuting
The forward speed of robot in the duct, flexibility with higher and environmental suitability can flexibly be controlled by opening area.
5, in the present invention, device is connected by optical cable with ground installation in pipeline.When the present apparatus moves forward in pipeline
When, ground installation constantly discharges optical cable, when encountering abnormal area, can stop discharging optical cable, simultaneously close off propeller-parachuting, this dress
It sets and is still in pipeline abnormal area, measure data in pipeline and feed back to host computer.At the end of measurement, propeller-parachuting, ground are closed
Face device, which packs up optical cable, to be terminated to detect.Meanwhile the optical cable meter counter device on ground can pass through the length of the optical cable of measurement release
The position for obtaining pipeline inner machine people determines the location information in pipeline where abnormal area.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of detecting robot of pipe；
Fig. 2 is the schematic diagram of the section structure of detecting robot of pipe；
Fig. 3 is the structural schematic diagram for imaging cabin；
The structural schematic diagram of Fig. 4 sealed compartment；
Fig. 5 is the structural schematic diagram of piggyback pod；
Fig. 6 is the cross-sectional view of sealed compartment；
Fig. 7 is the cross-sectional view of piggyback pod.
In attached drawing, parts list represented by the reference numerals are as follows:
1 is camera shooting cabin, and 2 be sealed compartment, and 3 be piggyback pod, and 4 be powerhouse dome, and 5 be translucent cover, and 6 be camera module, before 7 are
Lid, 8 be No.1 supporting plate, and 9 be No. two supporting plates, and 10 be power supply PCB module, and 11 be data exchange module, and 12 be photoelectric conversion module,
13 be sealed compartment shell, and 14 be sealed compartment pillar, and 15 be No. three supporting plates, and 16 be rear cover, and 17 be No.1 propeller limited block, and 18 are
Steering engine, 19 be propeller fixed block, and 20 be propeller, and 21 be No. two propeller limited blocks, and 22 be piggyback pod pillar, and 23 be power
Umbrella.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
A kind of detecting robot of pipe provided in an embodiment of the present invention, referring to Fig. 1-Fig. 7, comprising: camera shooting cabin 1, sealed compartment
2, piggyback pod 3 and powerhouse dome 4 and propeller-parachuting 23.
Imaging cabin 1 includes: translucent cover 5, camera module 6, front cover 7.Translucent cover 5 is hemispherical, is made of tempered glass,
Transparency is high, and anti-pressure ability is strong, inside there is camera module 6, and camera module 6 shoots video information in pipeline, utilizes twisted pair
Carry out data transmission.
Holder in camera module 6 can be rotated along two freedom degree directions, and PC control holder can be used and turn
It is dynamic, obtain the image information of different location in pipeline.Camera module 6 is fixed on front cover 7.
Sealed compartment 2 includes: 8, No. two supporting plates 9, power supply circuit board 10, data exchange modules 11, photoelectric conversion of No.1 supporting plate
Module 12, sealed compartment shell 13,14, No. three supporting plates 15 of sealed compartment pillar and rear cover 16.Data exchange module 11 is fixed on No. two
9 left side of supporting plate.Power supply circuit board 10 and photoelectric conversion module 12 are fixed on 9 right side of No. two partitions.Power supply circuit board 10 is respectively
Camera module 6, data exchange module 11, photoelectric conversion module 12 and piggyback pod 3 provide suitable voltage.Data exchange mould
Block 11 connects camera module 6 and various sensors, the data that will acquire are transferred to photoelectric conversion module 12, photoelectric conversion mould
Block 12 converts electrical signals to optical signal, is carried out data transmission using optical fiber, transmits data in host computer, while can also be with
The control command that host computer is sent is received, control command is sent to the corresponding part of pipe robot.No.1 supporting plate 8 and rear cover
16 are fixed by 4 sealed compartment pillars 14, and 13 upper and lower ends of cylindrical housings are fixed by front cover 8 and rear cover 16, are played close
Seal defencive function.
Piggyback pod 3 includes 17, No. two propeller limited blocks 21 of No.1 propeller limited block, propeller fixed block 19 and promotes
Device 20, steering engine 18.It is carried out between No.1 propeller limited block 17 and No. two propeller limited blocks 21 by 4 cylindrical columns 22
It is fixed.Propeller fixed block 19 is ring-type, is promoted respectively with No.1 propeller limited block 17 and No. two by upper and lower two steering engines
Device limited block 21 is connected, and propeller fixed block 19 can be rotated around central axis 180 degree.Propeller 20 is fixed on propeller fixed block
On 19.
It include battery protecting plate and 18650 type high-performance lithium batteries inside powerhouse dome, for providing electric energy for whole device.
The course of work of the invention are as follows:
When carrying out pipe detection using the present invention, place this invention into pipeline.Since the present invention is close with fluids within pipes
It spends identical, therefore can suspend in a fluid, eliminate the influence of device natural buoyancy.The present invention is with fluids within pipes flowing
Power is moved forward with fluid.When fluids within pipes are short of power, the open area for increasing propeller-parachuting 23 increases power, when
When fluids within pipes power is excessive, the open area for reducing propeller-parachuting 23 reduces power.The battery flat 4 at rear portion of the present invention is connected with light
Cable, the optical cable other end are fixed with ground installation.As ground installation constantly discharges optical fiber, promotion of the present invention in fluids within pipes
Lower forward movement, at the same be located at ground optical cable meter counter device according to the cable length calculating robot of release in pipeline
Position.The present invention uses power device of the propeller 20 as deflecting.There is helical blade in propeller 20, helical blade is just
Mobile, Robot propeller central axis when helical blade rotates backward to Robot propeller central axis positive direction when rotation
Negative direction is mobile.Propeller 20 is fixed on propeller limited block 19, is connected with steering engine 18 on propeller limited block 19, and 18 turns of steering engine
Dynamic plane and 20 central axis of propeller.Steering engine 18 can drive 20 central axis of propeller to rotate together when rotating.Slewing area
For 0~180 degree.It is possible thereby to turn to by changing 18 rotational angle of steering engine and 20 helical blade of propeller and realize robot two
The movement of a freedom degree direction.During executing pipe detection, cabin 1 is imaged by video information, data exchange is transmitted to by cable
Module 11, data exchange module 11 is by the data summarization of each sensor and is sent to photoelectric conversion module 12, photoelectric conversion mould
Block 12 converts electrical signals to optical signal, and is sent to host computer by optical cable, completes data transmission procedure.Host computer is right in time
The video information that the present apparatus is sent carries out image procossing, judges the shapes and sizes of pipeline, obtains latest Status in pipeline, control
The present apparatus moves in pipeline.Control command sends photoelectric conversion module 12 to by optical cable, and photoelectric conversion module is by optical signal
Electric signal is converted to, and is sent to data exchange module 11, control command is sent respectively to piggyback pod 3 by data exchange module 11
Steering engine 18, steering engine 18 controls propeller central axis angle, 20 positive and negative rotation of propeller make robot pipeline section two from
It is mobile by degree direction, achieve the purpose that control robot movement.
When robot advance encounter barrier on the way or pipe diameter become smaller region when, host computer is sent out according to slave computer
The video information sent obtains specific situation in pipeline, issues effective instruction to slave computer automatically, controls machine using propeller 20
People moves in pipeline, circumvents barrier, sails out of danger zone.At the end of measurement, propeller-parachuting 23 is closed, ground installation is gradually
Optical cable is packed up, robot is pulled out into pipeline, terminates detection.
When encountering the abnormal area for needing to detect, it can stop discharging optical cable, simultaneously close off propeller-parachuting 23, the present apparatus is quiet
Only in pipeline abnormal area, robot measures data in pipeline and is transferred to host computer.Meanwhile the optical cable meter counter device on ground
It can determine that the area of unusual condition occurs in pipeline by the position of the length computation pipeline inner machine people of the optical cable of measurement release
Domain.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of detecting robot of pipe, comprising: camera shooting cabin, sealed compartment, piggyback pod, powerhouse dome and propeller-parachuting, which is characterized in that
The camera shooting cabin is connected with the sealed compartment, and the propeller-parachuting is fixed on the side of the sealed compartment, the sealed compartment
Bottom connects the piggyback pod, and the powerhouse dome is arranged in the piggyback pod bottom；
The piggyback pod changes the direction of advance of robot using fluid as robot onward impulse, and ground installation utilizes connection
Optical cable release and withdrawal robot in robot.
2. a kind of detecting robot of pipe according to claim 1, which is characterized in that the piggyback pod includes:
It is fixed between No.1 propeller limited block and No. two propeller limited blocks by cylindrical columns；
Propeller fixed block is connected with No.1 propeller limited block and No. two propeller limited blocks respectively by upper and lower two steering engines,
Propeller fixed block is rotated around central axis 180 degree；
Propeller is fixed on propeller fixed block, and steering engine, steering engine rotational plane and propeller are connected on propeller fixed block
Central axis；Helical blade is provided in propeller, Robot propeller central axis is being just when helical blade rotates forward
Direction is mobile, and Robot propeller central axis negative direction is mobile when helical blade rotates backward；
Helical blade by changing steering engine rotational angle and propeller, which turns to, realizes robot in the shifting of two freedom degree directions
It is dynamic.
3. a kind of detecting robot of pipe according to claim 1, which is characterized in that the camera shooting cabin includes: to be fixed on
Translucent cover on front cover,
Camera module is additionally provided with inside hemispheric translucent cover, the holder in the camera module is along two freedom degrees
Video information in direction rotation shooting pipeline.
4. a kind of detecting robot of pipe according to claim 1, which is characterized in that the sealed compartment includes:
Data exchange module is fixed on the left of supporting plate, and power supply circuit board and photoelectric conversion module are fixed on the right side of partition, power supply electricity
Road plate is respectively that camera module, data exchange module, photoelectric conversion module and piggyback pod provide voltage；
The data that data exchange module will acquire are transferred to photoelectric conversion module, and photoelectric conversion module carries out data using optical fiber
It transmits and is sent in host computer.
5. a kind of detecting robot of pipe according to claim 1, which is characterized in that by changing propeller-parachuting forced area
Change forward speed.
6. a kind of detecting robot of pipe according to claim 1, which is characterized in that include battery inside the powerhouse dome
Protection board and lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910434494.7A CN110185887A (en) | 2019-05-23 | 2019-05-23 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910434494.7A CN110185887A (en) | 2019-05-23 | 2019-05-23 | A kind of detecting robot of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110185887A true CN110185887A (en) | 2019-08-30 |
Family
ID=67717506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910434494.7A Pending CN110185887A (en) | 2019-05-23 | 2019-05-23 | A kind of detecting robot of pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110185887A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111550682A (en) * | 2020-05-29 | 2020-08-18 | 湖北迈得科技有限公司 | Detection device and detection method for inside of small-drift-diameter high-pressure water filling pipeline |
| CN114233979A (en) * | 2021-12-21 | 2022-03-25 | 深圳市博铭维技术股份有限公司 | Pipeline under pressure inspection robot |
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| CN111550682B (en) * | 2020-05-29 | 2021-09-10 | 湖北迈得科技有限公司 | Detection device and detection method for inside of small-drift-diameter high-pressure water filling pipeline |
| CN114233979A (en) * | 2021-12-21 | 2022-03-25 | 深圳市博铭维技术股份有限公司 | Pipeline under pressure inspection robot |
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Application publication date: 20190830 |